CN102350698A - Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain - Google Patents
Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain Download PDFInfo
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- CN102350698A CN102350698A CN2011102834004A CN201110283400A CN102350698A CN 102350698 A CN102350698 A CN 102350698A CN 2011102834004 A CN2011102834004 A CN 2011102834004A CN 201110283400 A CN201110283400 A CN 201110283400A CN 102350698 A CN102350698 A CN 102350698A
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Abstract
The invention relates to six-DOF (degree of freedom) parallel mechanisms containing a 5R closed-loop branch chain. The six-DOF parallel mechanisms comprise a first five-rod mechanism closed-loop branch chain, a second five-rod mechanism closed-loop branch chain, a third five-rod mechanism closed-loop branch chain and an execution mechanism branch chain. The first five-rod mechanism closed-loop branch chain, the second five-rod mechanism closed-loop branch chain and the third five-rod mechanism closed-loop branch chain are in the same plane; the first five-rod mechanism closed-loop branch chain can control a first rotary table to move, the second five-rod mechanism closed-loop branch chain can control a second rotary table to move, the third five-rod mechanism closed-loop branch chain can control a third rotary table to move, and the movement of the first rotary table, the second rotary table and the third rotary table can realize the space movement of a platform. Three closed-loop branch chains in symmetric structure control the movement output in six DOF, the positive and inverse problems of the kinematics of mechanism are easy to solve, the control is convenient, and driving motors are all mounted on a frame, and rods can be made into light rod to effectively reduce the mechanism weight; and the mechanism has good rigidity, small inertness and good dynamics property.
Description
Technical field
The present invention relates to the robot field, particularly a kind of six-degree-of-freedom parallel connection mechanism that contains 5R closed loop subchain.
Background technology
Parallel institution is that a kind of moving platform is connected through at least two independent motion chains with fixed platform; Two or more frees degree are arranged; And mechanism with the parallel way driving; Have advantages such as precision is higher, compact conformation, rigidity is high, bearing capacity is strong greatly, obtained preferably at aspects such as motion simulator, parallel machine, micro-manipulating robot, extracting robots and used.But existing parallel institution basically all is a branch does not contain closed loop; For the parallel institution of number of degrees of freedom, greater than the side chain number; Some side chain must be provided with two or more driving links; The joint of this side chain of just having to motor is installed in; Thereby cause problems such as mechanism's poor rigidity, inertia are big, joint error accumulation; The mechanism dynamic poor-performing, the control difficulty.
Summary of the invention
The object of the present invention is to provide a kind of six-degree-of-freedom parallel connection mechanism of the 5R of containing closed loop subchain, solve problems such as traditional number of degrees of freedom, is big greater than the parallel institution poor rigidity of side chain number, inertia, joint error accumulation.
The present invention achieves the above object through following technical scheme: a kind of six-degree-of-freedom parallel connection mechanism of the 5R of containing closed loop subchain comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain, the 3rd five-rod closed loop subchain and executing agency's subchain.
The said first five-rod closed loop subchain is by first driving lever; Second driving lever; First connecting rod; Second connecting rod and frame are formed by connecting; First driving lever, one end is connected on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through second revolute pair; The first connecting rod other end is connected with second connecting rod through the 3rd revolute pair; The second connecting rod other end is connected with second driving lever through the 4th revolute pair; The second driving lever other end is connected with frame through the 5th revolute pair, and first driving lever and the motion of second driving lever drive first connecting rod and the second connecting rod motion can be controlled the motion of first turntable in plane, first five-rod closed loop subchain place.
The said second five-rod closed loop subchain is by the 3rd driving lever; The 4th driving lever; Third connecting rod; The 4th connecting rod and frame are formed by connecting; The 3rd driving lever one end is connected on the frame through the 6th revolute pair; The 3rd driving lever other end is connected with third connecting rod through the 7th revolute pair; The third connecting rod other end is connected with the 4th connecting rod through the 8th revolute pair; The 4th connecting rod other end is connected with the 4th driving lever through the 9th revolute pair; The 4th driving lever other end is connected with frame through the tenth revolute pair, and the 3rd driving lever and the motion of the 4th driving lever drive third connecting rod and the 4th link motion can be controlled the motion of second turntable in plane, second five-rod closed loop subchain place.
Said the 3rd five-rod closed loop subchain is by the 5th driving lever; The 6th driving lever; The 5th connecting rod; The 6th connecting rod and frame are formed by connecting; The 5th driving lever one end is connected on the frame through the 11 revolute pair; The 5th driving lever other end is connected with the 5th connecting rod through the 12 revolute pair; The 5th connecting rod other end is connected with the 6th connecting rod through the 13 revolute pair; The 6th connecting rod other end is connected with the 6th driving lever through the 14 revolute pair; The 6th driving lever other end is connected with frame through the 15 revolute pair, and the 5th driving lever and the motion of the 6th driving lever drive the 5th connecting rod and the 6th link motion can be controlled the motion of the 3rd turntable in plane, the 3rd five-rod closed loop subchain place.
Said executing agency subchain is by first turntable; Second turntable; The 3rd turntable; Seven-link assembly; The 8th connecting rod; The 9th connecting rod; First Hooke's hinge; Second Hooke's hinge; The 3rd Hooke's hinge and moving platform are formed by connecting; First turntable is connected with first connecting rod through the 3rd revolute pair; First turntable is connected with seven-link assembly through the 16 revolute pair; The seven-link assembly other end is connected with first Hooke's hinge through the 17 revolute pair; First Hooke's hinge is connected with moving platform through the 18 revolute pair; Second turntable is connected with third connecting rod through the 8th revolute pair; Second turntable is connected with the 8th connecting rod through the 19 revolute pair; The 8th connecting rod other end is connected with second Hooke's hinge through the 20 revolute pair; Second Hooke's hinge is connected with moving platform through the 21 revolute pair; The 3rd turntable is connected with the 5th connecting rod through the 13 revolute pair; The 3rd turntable is connected with the 9th connecting rod through the 22 revolute pair; The 9th connecting rod other end is connected with the 3rd Hooke's hinge through the 23 revolute pair; The 3rd Hooke's hinge is connected first turntable through the 24 revolute pair with moving platform; Second turntable and the 3rd turntable can be realized the space six-freedom motion of moving platform in the motion of separately space.
Outstanding advantage of the present invention is:
1, drive motors is installed on the frame, and rod member can be made lighter bar, effectively reduces mechanism's weight, and mechanism's good rigidly, inertia are little, and dynamic performance is good;
2, the control of the closed loop subchain through three symmetrical structures moving platform motion output, kinematics of mechanism are just, inverse problem finds the solution easily, and control conveniently;
3, through the end effector of various different purposes is installed on moving platform, this mechanism may be used on fields such as extracting, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is a kind of first structural representation that contains the six-degree-of-freedom parallel connection mechanism of 5R closed loop subchain according to the invention.
Fig. 2 is a kind of second structural representation that contains the six-degree-of-freedom parallel connection mechanism of 5R closed loop subchain according to the invention.
Fig. 3 is a kind of the 3rd structural representation that contains the six-degree-of-freedom parallel connection mechanism of 5R closed loop subchain according to the invention.
Fig. 4 is a kind of the 4th structural representation that contains the six-degree-of-freedom parallel connection mechanism of 5R closed loop subchain according to the invention.
Fig. 5 is a kind of first work sketch map that contains the six-degree-of-freedom parallel connection mechanism of 5R closed loop subchain according to the invention.
Fig. 6 is a kind of second work sketch map that contains the six-degree-of-freedom parallel connection mechanism of 5R closed loop subchain according to the invention.
Fig. 7 is a kind of the 3rd work sketch map that contains the six-degree-of-freedom parallel connection mechanism of 5R closed loop subchain according to the invention.
Fig. 8 is a kind of the 4th work sketch map that contains the six-degree-of-freedom parallel connection mechanism of 5R closed loop subchain according to the invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is described further.
The said first five-rod closed loop subchain is by first driving lever 8; Second driving lever 6; First connecting rod 5; Second connecting rod 3 and frame 1 are formed by connecting; First driving lever, 8 one ends are connected on the frame 1 through first revolute pair 10; First driving lever, 8 other ends are connected with first connecting rod 5 through second revolute pair 9; First connecting rod 5 other ends are connected with second connecting rod 3 through the 3rd revolute pair 38; Second connecting rod 3 other ends are connected with second driving lever 6 through the 4th revolute pair 2; Second driving lever, 6 other ends are connected with frame 1 through the 5th revolute pair 7, and first driving lever 8 and second driving lever 6 move, and 3 motions can realize first turntable 4 is accurately located in the space on plane, the first five-rod closed loop subchain place drive first connecting rods 5 with second connecting rod.
The said second five-rod closed loop subchain is by the 3rd driving lever 19; The 4th driving lever 12; Third connecting rod 17; The 4th connecting rod 14 and frame 1 are formed by connecting; The 3rd driving lever 19 1 ends are connected on the frame 1 through the 6th revolute pair 18; The 3rd driving lever 19 other ends are connected with third connecting rod 17 through the 7th revolute pair 20; Third connecting rod 17 other ends are connected with the 4th connecting rod 14 through the 8th revolute pair 40; The 4th connecting rod 14 other ends are connected with the 4th driving lever 12 through the 9th revolute pair 13; The 4th driving lever 12 other ends pass through the tenth revolute pair 11 and are connected with frame 1, and the 3rd driving lever 19 and 12 motions of the 4th driving lever drive third connecting rods 17 and 14 motions of the 4th connecting rod can realize second turntable 16 is accurately located in the space on plane, second five-rod closed loop subchain place.
Said the 3rd five-rod closed loop subchain is by the 5th driving lever 31; The 6th driving lever 28; The 5th connecting rod 33; The 6th connecting rod 36 and frame 1 are formed by connecting; The 5th driving lever 31 1 ends are connected on the frame 1 through the 11 revolute pair 30; The 5th driving lever 31 other ends are connected with the 5th connecting rod 33 through the 12 revolute pair 37; The 5th connecting rod 33 other ends are connected with the 6th connecting rod 36 through the 13 revolute pair 39; The 6th connecting rod 36 other ends are connected with the 6th driving lever 28 through the 14 revolute pair 37; The 6th driving lever 28 other ends pass through the 15 revolute pair 29 and are connected with frame 1, and the 5th driving lever 31 and 28 motions of the 6th driving lever drive the 5th connecting rods 33 and 36 motions of the 6th connecting rod can realize the 3rd turntable 34 is accurately located in the space on plane, the 3rd five-rod closed loop subchain place.
Said executing agency subchain is by first turntable 4; Second turntable 16; The 3rd turntable 34; Seven-link assembly 21; The 8th connecting rod 22; The 9th connecting rod 27; First Hooke's hinge 23; Second Hooke's hinge 44; The 3rd Hooke's hinge 41 and moving platform 26 are formed by connecting; First turntable 4 is connected with first connecting rod 5 through the 3rd revolute pair 38; First turntable 4 is connected with seven-link assembly 21 through the 16 revolute pair 47; Seven-link assembly 21 other ends are connected with first Hooke's hinge 23 through the 17 revolute pair 25; First Hooke's hinge 23 is connected with moving platform 26 through the 18 revolute pair 24; Second turntable 16 is connected with third connecting rod 17 through the 8th revolute pair 40; Second turntable 16 is connected with the 8th connecting rod 22 through the 19 revolute pair 15; The 8th connecting rod 22 other ends are connected with second Hooke's hinge 44 through the 20 revolute pair 45; Second Hooke's hinge 44 is connected with moving platform 26 through the 21 revolute pair 46; The 3rd turntable 34 is connected with the 5th connecting rod 33 through the 13 revolute pair 39; The 3rd turntable 34 is connected with the 9th connecting rod 27 through the 22 revolute pair 35; The 9th connecting rod 27 other ends are connected with the 3rd Hooke's hinge 41 through the 23 revolute pair 42, and the 3rd Hooke's hinge 41 is connected with moving platform 26 through the 24 revolute pair 43.
Claims (1)
1. a six-degree-of-freedom parallel connection mechanism that contains 5R closed loop subchain comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain, the 3rd five-rod closed loop subchain and executing agency's subchain, and its structure and connected mode are:
The said first five-rod closed loop subchain is by first driving lever; Second driving lever; First connecting rod; Second connecting rod and frame are formed by connecting; First driving lever, one end is connected on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through second revolute pair; The first connecting rod other end is connected with second connecting rod through the 3rd revolute pair; The second connecting rod other end is connected with second driving lever through the 4th revolute pair; The second driving lever other end is connected with frame through the 5th revolute pair
The said second five-rod closed loop subchain is by the 3rd driving lever; The 4th driving lever; Third connecting rod; The 4th connecting rod and frame are formed by connecting; The 3rd driving lever one end is connected on the frame through the 6th revolute pair; The 3rd driving lever other end is connected with third connecting rod through the 7th revolute pair; The third connecting rod other end is connected with the 4th connecting rod through the 8th revolute pair; The 4th connecting rod other end is connected with the 4th driving lever through the 9th revolute pair; The 4th driving lever other end is connected with frame through the tenth revolute pair
Said the 3rd five-rod closed loop subchain is by the 5th driving lever; The 6th driving lever; The 5th connecting rod; The 6th connecting rod and frame are formed by connecting; The 5th driving lever one end is connected on the frame through the 11 revolute pair; The 5th driving lever other end is connected with the 5th connecting rod through the 12 revolute pair; The 5th connecting rod other end is connected with the 6th connecting rod through the 13 revolute pair; The 6th connecting rod other end is connected with the 6th driving lever through the 14 revolute pair; The 6th driving lever other end is connected with frame through the 15 revolute pair
Said executing agency subchain is by first turntable; Second turntable; The 3rd turntable; Seven-link assembly; The 8th connecting rod; The 9th connecting rod; First Hooke's hinge; Second Hooke's hinge; The 3rd Hooke's hinge and moving platform are formed by connecting; First turntable is connected with first connecting rod through the 3rd revolute pair; First turntable is connected with seven-link assembly through the 16 revolute pair; The seven-link assembly other end is connected with first Hooke's hinge through the 17 revolute pair; First Hooke's hinge is connected with moving platform through the 18 revolute pair; Second turntable is connected with third connecting rod through the 8th revolute pair; Second turntable is connected with the 8th connecting rod through the 19 revolute pair; The 8th connecting rod other end is connected with second Hooke's hinge through the 20 revolute pair; Second Hooke's hinge is connected with moving platform through the 21 revolute pair; The 3rd turntable is connected with the 5th connecting rod through the 13 revolute pair; The 3rd turntable is connected with the 9th connecting rod through the 22 revolute pair; The 9th connecting rod other end is connected with the 3rd Hooke's hinge through the 23 revolute pair, and the 3rd Hooke's hinge is connected with moving platform through the 24 revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102834004A CN102350698A (en) | 2011-09-22 | 2011-09-22 | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011102834004A CN102350698A (en) | 2011-09-22 | 2011-09-22 | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain |
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| CN102350698A true CN102350698A (en) | 2012-02-15 |
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| CN2011102834004A Pending CN102350698A (en) | 2011-09-22 | 2011-09-22 | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102610918A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel adjusting mechanism for radio telescope containing RRR closed loop subchain |
| CN102990651A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Double closed-loop subchain parallel mechanism with completely symmetrical kinematic pair connection |
| CN104493815A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Multi-degree-of-freedom industrial robot mechanism |
| CN104551474A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Method for carrying out welding construction by using six-freedom-degree movable connection rod mechanism |
| CN105729462A (en) * | 2016-05-09 | 2016-07-06 | 河北工业大学 | Three-support chain six-degree-of-freedom parallel robot mechanism |
| CN110524516A (en) * | 2019-09-04 | 2019-12-03 | 燕山大学 | It is a kind of not only to have contained redundancy branched chain but also contained closed-loop element redundantly actuated parallel mechanism |
| CN111331582A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Asymmetric large-swing-angle parallel mechanism formed by Y-shaped branched chains |
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| WO2004004986A2 (en) * | 2002-07-09 | 2004-01-15 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
| CN1473685A (en) * | 2003-03-25 | 2004-02-11 | 江苏工业学院 | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine |
| EP1501065A1 (en) * | 2003-07-22 | 2005-01-26 | William Lai | Parallel kinematic hexapodal dynamic simulator |
| CN201009243Y (en) * | 2007-02-14 | 2008-01-23 | 西安建筑科技大学 | Mixed drive 6-freedom parallel mechanism containing plane 5-level closed chain |
| CN202357164U (en) * | 2011-09-22 | 2012-08-01 | 广西大学 | Six-degree-of-freedom parallel mechanism including 5R closed loop sub-chains |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH10329078A (en) * | 1997-06-02 | 1998-12-15 | Ricoh Co Ltd | Parallel link manipulator device |
| WO2004004986A2 (en) * | 2002-07-09 | 2004-01-15 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
| CN1473685A (en) * | 2003-03-25 | 2004-02-11 | 江苏工业学院 | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102610918A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel adjusting mechanism for radio telescope containing RRR closed loop subchain |
| CN102610918B (en) * | 2012-03-28 | 2014-05-07 | 广西大学 | Parallel adjusting mechanism for radio telescope containing RRR closed loop subchain |
| CN102990651A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Double closed-loop subchain parallel mechanism with completely symmetrical kinematic pair connection |
| CN102990651B (en) * | 2012-12-27 | 2015-04-01 | 广西大学 | Double closed-loop subchain parallel mechanism with completely symmetrical kinematic pair connection |
| CN104551474A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Method for carrying out welding construction by using six-freedom-degree movable connection rod mechanism |
| CN104493815A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Multi-degree-of-freedom industrial robot mechanism |
| CN105729462A (en) * | 2016-05-09 | 2016-07-06 | 河北工业大学 | Three-support chain six-degree-of-freedom parallel robot mechanism |
| CN110524516A (en) * | 2019-09-04 | 2019-12-03 | 燕山大学 | It is a kind of not only to have contained redundancy branched chain but also contained closed-loop element redundantly actuated parallel mechanism |
| CN111331582A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Asymmetric large-swing-angle parallel mechanism formed by Y-shaped branched chains |
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Application publication date: 20120215 |